diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 8ca3e2f..6da7985 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -6,6 +6,7 @@
 #include "module/balance_chassis.h"
 #include "bsp/can.h"
 #include "component/user_math.h"
+#include "device/motor_lk.h"
 #include "module/config.h"
 #include <string.h>
 #include <math.h>
@@ -14,8 +15,8 @@
 /* Private define ----------------------------------------------------------- */
 #define CAN_CMD_ENABLE_ID      121  // 使能命令ID
 #define CAN_CMD_JOINT_ID       122  // 关节控制命令ID  
-#define CAN_CMD_WHEEL_LEFT_ID  128  // 左轮控制命令ID
-#define CAN_CMD_WHEEL_RIGHT_ID 129  // 右轮控制命令ID
+#define CAN_CMD_WHEEL_LEFT_ID  0x128  // 左轮控制命令ID
+#define CAN_CMD_WHEEL_RIGHT_ID 0x129  // 右轮控制命令ID
 
 #define CAN_FEEDBACK_JOINT_BASE_ID 124  // 关节反馈基础ID (124-127)
 #define CAN_FEEDBACK_WHEEL_LEFT_ID 130  // 左轮反馈ID
@@ -71,25 +72,16 @@ static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
     // 检查ID 128 - 左轮控制命令 (与电机发送格式一致)
     if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_LEFT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
         wheel_command_received[0] = true;
-        // 直接转发CAN数据到左轮电机
-        BSP_CAN_StdDataFrame_t wheel_frame = {
-            .id = chassis->param.wheel_param[0].id,
-            .dlc = rx_msg.dlc,
-        };
-        memcpy(wheel_frame.data, rx_msg.data, rx_msg.dlc);
-        BSP_CAN_TransmitStdDataFrame(chassis->param.wheel_param[0].can, &wheel_frame);
+        float left_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
+        MOTOR_LK_SetOutput(&chassis->param.wheel_param[0], left_out);
+
     }
     
     // 检查ID 129 - 右轮控制命令 (与电机发送格式一致) 
     if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_RIGHT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
         wheel_command_received[1] = true;
-        // 直接转发CAN数据到右轮电机
-        BSP_CAN_StdDataFrame_t wheel_frame = {
-            .id = chassis->param.wheel_param[1].id,
-            .dlc = rx_msg.dlc,
-        };
-        memcpy(wheel_frame.data, rx_msg.data, rx_msg.dlc);
-        BSP_CAN_TransmitStdDataFrame(chassis->param.wheel_param[1].can, &wheel_frame);
+        float right_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
+        MOTOR_LK_SetOutput(&chassis->param.wheel_param[1], right_out);
     }
     
     return DEVICE_OK;